64 lines
1.4 KiB
C
64 lines
1.4 KiB
C
#include "user_task.h"
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#include "nuc.h"
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extern Chassis_t chassis; //没用消息队列，以后有闲情雅致再说
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#ifdef DEBUG
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NUC_t nuc_raw;
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CMD_NUC_t cmd_fromnuc;
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CMD_t cmd_nuc;
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#else
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static NUC_t nuc_raw;
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static CMD_NUC_t cmd_fromnuc;
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static CMD_t cmd_nuc;
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#endif
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fp32 send_data[4];
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int a = 0;
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void Task_nuc(void *argument){
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(void)argument; /**/
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// osDelay(TASK_INIT_DELAY_NUC);
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const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_NUC;
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NUC_Init(&nuc_raw);
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uint32_t tick = osKernelGetTickCount();
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while (1)
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{
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#ifdef DEBUG
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task_runtime.stack_water_mark.nuc= osThreadGetStackSpace(osThreadGetId());
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#endif
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osMessageQueueGet(task_runtime.msgq.cmd.nuc,&cmd_nuc, NULL, 0);
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if (chassis.SICK_FALG == 1) {
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send_data[0] = 1;
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send_data[1] = 2;
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send_data[2] = 3;
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send_data[3] = 4;
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}
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else {
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memset(send_data, 0, sizeof(send_data)); // 全部置0
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}
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NUC_Send(send_data); // 发送数据（无论 SICK_FALG 是 0 还是 1）
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//接收nuc数据
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NUC_StartReceiving();
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if (NUC_WaitDmaCplt()){
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NUC_RawParse(&cmd_fromnuc);
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}
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else{
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NUC_HandleOffline(&cmd_fromnuc);
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a++;
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}
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osMessageQueueReset(task_runtime.msgq.cmd.raw.nuc);
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osMessageQueuePut(task_runtime.msgq.cmd.raw.nuc,&(cmd_fromnuc),0,0);
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tick += delay_tick; /* 计算下一个唤醒时刻*/
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osDelayUntil(tick);
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}
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}
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